Pushing control of mobile robot by adjusting deceleration time according to estimated friction effect

Koshin Sekiya, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Recently, attention has been paid to pushing task by robots. A flexible mobile robot with a spring was devised to achieve safe contact during the pushing task. In this paper, two types of pushing task were assumed, one is pushing a fixed object and second is pushing a mobile object. A control law for flexible mobile robots to perform these tasks was proposed. The first is resonance ratio control for force control on a fixed object. Second, deceleration time adjustment method was proposed to carry mobile object without overrunning the target position. Also an observer to estimate friction was proposed, which is an index for adapting deceleration time. The performance of the proposed methods ware verified by simulation.

Original languageEnglish
Title of host publicationProceedings - 2020 IEEE International Conference on Industrial Technology, ICIT 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages389-394
Number of pages6
ISBN (Electronic)9781728157542
DOIs
Publication statusPublished - 2020 Feb
Event21st IEEE International Conference on Industrial Technology, ICIT 2020 - Buenos Aires, Argentina
Duration: 2020 Feb 262020 Feb 28

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology
Volume2020-February

Conference

Conference21st IEEE International Conference on Industrial Technology, ICIT 2020
CountryArgentina
CityBuenos Aires
Period20/2/2620/2/28

Keywords

  • Deceleration Time Adjustment
  • Flexible Mobile Robot
  • Friction Estimation Observer
  • Pushing Task

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Sekiya, K., & Murakami, T. (2020). Pushing control of mobile robot by adjusting deceleration time according to estimated friction effect. In Proceedings - 2020 IEEE International Conference on Industrial Technology, ICIT 2020 (pp. 389-394). [9067260] (Proceedings of the IEEE International Conference on Industrial Technology; Vol. 2020-February). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIT45562.2020.9067260